cmake_minimum_required(VERSION 3.8)
project(laser_scan_graph_slam)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

# ---------------------------------------------------------<


find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(ubt_interface REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_sensor_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(geometry_msgs REQUIRED)




# add_library(laser_scan_mapping 
#   src/laser_scan_mapping/laser_scan_mapping.cpp
#   src/laser_scan_mapping/keyframe.cpp
#   src/laser_scan_mapping/map_cloud_generator.cpp
#   src/laser_scan_mapping/graph_slam.cpp
#   src/laser_scan_mapping/information_matrix_calculator.cpp
#   src/g2o/robust_kernel_io.cpp
#   src/pl_icp/pl_icp.cpp
# )

# target_include_directories(laser_scan_mapping PUBLIC
#     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
#     $<INSTALL_INTERFACE:include>
# )
# target_link_libraries(laser_scan_mapping 
#       fmt
#       yaml-cpp
# )

# ament_target_dependencies(
#   laser_scan_mapping
#   rclcpp
#   std_msgs
#   ubt_interface
#   tf2_ros
#   tf2
#   nav_msgs
# )

# install(DIRECTORY include/ DESTINATION include)

# install(TARGETS 
#     ${PROJECT_NAME}_node 
#     RUNTIME DESTINATION lib/${PROJECT_NAME}
#     LIBRARY DESTINATION lib/${PROJECT_NAME}
#     ARCHIVE DESTINATION lib/${PROJECT_NAME}
# )
# --------------------------------------------------------->

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
